Study on the Dynamics of 3HUS+S Parallel Bionic Hip Joint Simulator

Zhang Huizhen; Cheng Gang; Shan Xianlei

doi:10.16578/j.issn.1004.2539.2017.01.005

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Study on the Dynamics of 3HUS+S Parallel Bionic Hip Joint Simulator

更新时间：2022-10-20

- Study on the Dynamics of 3HUS+S Parallel Bionic Hip Joint Simulator
- Vol. 41, Issue 1, Pages: 20-23(2017)
- 作者机构：
  
  1. 中国矿业大学机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2017.01.005
  CLC：
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[1]张慧珍,程刚,山显雷.3HUS+S型并联仿生髋关节试验机动力学研究[J].机械传动,2017,41(01):20-23.

Zhang Huizhen, Cheng Gang, Shan Xianlei. Study on the Dynamics of 3HUS+S Parallel Bionic Hip Joint Simulator. [J]. 41(1):20-23(2017)
[1]张慧珍,程刚,山显雷.3HUS+S型并联仿生髋关节试验机动力学研究[J].机械传动,2017,41(01):20-23. DOI： 10.16578/j.issn.1004.2539.2017.01.005.

Zhang Huizhen, Cheng Gang, Shan Xianlei. Study on the Dynamics of 3HUS+S Parallel Bionic Hip Joint Simulator. [J]. 41(1):20-23(2017) DOI： 10.16578/j.issn.1004.2539.2017.01.005.

摘要

针对一种以空间对称3HUS+S并联机构为核心模块的髋关节试验机,为分析其动力学特性,从并联机构的运动学出发,建立了各直线模组滑块及连接杆与动平台速度、加速度之间的关系。通过得到的动平台质心、连接杆质心及直线模组质心的作用力和作用力矩,基于虚功原理建立了该并联试验机的动力学模型;通过对动力学模型仿真得到直线模组的驱动力矩和驱动功率,为该试验机动力学特性的深入分析和控制策略的研究提供了参考。

Abstract

In order to analyze the dynamics characteristic of the hip joint simulator which taking the 3HUS+ S spatial parallel mechanism as the core module,starting from the kinematics of parallel mechanism,the relationship between the velocity,acceleration of moving platform and the linear module slider and active branched- chains are established. By the forces and torques of the centroid of the moving platform,active branched- chains and linear module,the dynamics model is established based on the principle of virtual power. The driving torques and powers of the linear module are obtained by simulating on the dynamics model,a reference for the simulator in the analysis of dynamics characteristics and research of control strategy is provided.

关键词

3HUS+S并联机构髋关节试验机动力学模型虚功原理

Keywords

3HUS+S parallel mechanismHip joint simulatorDynamics modelPrinciple of virtual power

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